【Key words】 AMD control system； linear motor； performance test； comprehensive resistance force； ripple thrust；
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thrust ripple 推力波动
According to the experimental results of constant directive force,the calculation formulas of ripple thrust and comprehensive resistance force for AMD control system were presented through defining friction force and other factors expected for ripple thrust as comprehensive resistance force.
通过把AMD系统除纹波推力外存在的摩擦力及其他多种因素的综合影响定义为综合阻力,根据常数指令力试验结果提出纹波推力及综合阻力的计算公式。
参考来源 - 直线电机驱动的AMD性能测试试验研究·2,447,543篇论文数据，部分数据来源于NoteExpress
The main factor is thrust ripple of permanent magnet liner synchronous motor.
而永磁直线同步电机的推力波动是影响其性能的主要因素。
The obtained formula can be utilized to compensate thrust ripple in practical application and improve the motion performance of the linear servo motor.
在实际应用中，可以利用得到的公式对推力波动进行补偿，提高直线伺服电机的运动性能。
Since the thrust ripple has great influence on the precision and steadiness of the velocity control, the sliding-mode control device of speed loop was designed.
针对推力波动对于直线电机的速度控制精度和平稳性影响较大的问题，设计了速度环滑模控制器。
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